ATLAS An Open-Source TDOA-based Ultra-Wideband Localization System - - PowerPoint PPT Presentation

1 IPIN N 2016 Alcalá de Henare res, Spain

ATLAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

ATLAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Communications Networks Institute Jani nis Tiemann, emann, M.Sc Sc. Fabian Eckermann, M.Sc.

• Prof. Dr.-Ing. Christian Wietfeld

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

2 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Hardware

• Based

ed on n deca caWave ave DWM100 000

• Using LPC134

347 7 Microcon

• controller

roller Unit (MCU) U)

• Integrated

rated MPU-925 250 0 Inertial al Measurem rement ent Unit (IMU) U) Not used so far…

• USB for backbon

kbone e communicat cation

• n and power

er supp pply ly

• J. Tiemann, ATLAS node hardware design repository,

http://dx.doi.org/10.5281/zenodo.61464, September 2016.

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

3 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

System Topology & Architecture

Distribu ributed ed setup p is possib sible le through gh wireles less clock ck synchron roniza izatio ion Wired d backbon kbone e is replaceab laceable le through wireless ess/o /other r backbon kbone

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

4 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

System Topology & Architecture

Central al clock ck correcti ection

• n

Anc ncho hors rs are configur gured ed once Timest stamped amped frames es are report rted ed to to th the central ral localiza alizatio ion engine

• J. Tiemann, ATLAS Localization Server Source Code repository, http://dx.doi.org/10.5281/zenodo.61465, September 2016.

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

5 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Experimental Setup for Accuracy Analysis

Repeated ated robot

• tic

c movemen ment over prede defin fined ed track OptiTr iTrack ack motion

• n

capture re system em for accura racy cy analysis ysis Robot controlled rolled via moti tion capture ture system em

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

6 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Experimental Setup for Accuracy Analysis

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

7 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Experimental Results – Robot Trajectory

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

8 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Experimental Results – Trajectory Error

Time-seri series es of sing ngle le trajector ectory y run Co Cons nste tell llation

• n optim

timized ized for horizontal

• ntal

posit itio ioning

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

9 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Experimental Results – Calibration Effect

Calibra bratio ion of static c error r of each TDOA through gh node e with known positio ition Calibra bratio ion adds s static c offset et to the TDOA

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

10 10 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Experimental Results – Quantitative Analysis

90% Quantile ile of the horizontal

• ntal posit

ition ioning g error r in th the range of ~20cm cm 3D Position itioning g is worse e due ue to to cons nstell ellatio ion cons nstra raints ts

• J. Tiemann, Raw Experimental localization, sample and tracking data, http://dx.doi.org/10.5281/zenodo.61335, September 2016.

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

11 11 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Competition System

Mounted ed in pairs s of 2 to to the 4 m mounting posts, s, 1 m mobile ile tag on the robot

• t

Wired d backbon kbone e through gh Ethernet, , localiza alization

• n server

ver on lapt ptop

• p

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

12 12 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Competition Tracking Results

Quantifi ified ed results lts will be presen sented ed tomorr rrow

• w at the closi

sing g event (we don’t know them)

Communication Networks Institute

• Prof. Dr.-Ing. C. Wietfeld

13 13 IPIN N 2016 Alcalá de Henare res, Spain

ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System

Thank you for your attention! Questions?

Point of Contact (POC): Janis Tiemann fon.: +49 231 755 3274 fax: +49 231 755 6136 e-mail: janis.tiemann@tu-dortmund.de internet: http://kn.e-technik.tu-dortmund.de Head of Institute

• Prof. Dr.-Ing. Christian Wietfeld

Address: TU Dortmund Communication Networks Institute Otto-Hahn-Str. 6 44227 Dortmund Germany